ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
tf2_msgs/TFMessage.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_tf2_msgs_TFMessage_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_tf2_msgs_TFMessage_h |
garyservin | 0:9e9b7db60fd5 | 3 | |
garyservin | 0:9e9b7db60fd5 | 4 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 7 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 8 | #include "geometry_msgs/TransformStamped.h" |
garyservin | 0:9e9b7db60fd5 | 9 | |
garyservin | 0:9e9b7db60fd5 | 10 | namespace tf2_msgs |
garyservin | 0:9e9b7db60fd5 | 11 | { |
garyservin | 0:9e9b7db60fd5 | 12 | |
garyservin | 0:9e9b7db60fd5 | 13 | class TFMessage : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 14 | { |
garyservin | 0:9e9b7db60fd5 | 15 | public: |
garyservin | 0:9e9b7db60fd5 | 16 | uint32_t transforms_length; |
garyservin | 0:9e9b7db60fd5 | 17 | typedef geometry_msgs::TransformStamped _transforms_type; |
garyservin | 0:9e9b7db60fd5 | 18 | _transforms_type st_transforms; |
garyservin | 0:9e9b7db60fd5 | 19 | _transforms_type * transforms; |
garyservin | 0:9e9b7db60fd5 | 20 | |
garyservin | 0:9e9b7db60fd5 | 21 | TFMessage(): |
garyservin | 0:9e9b7db60fd5 | 22 | transforms_length(0), transforms(NULL) |
garyservin | 0:9e9b7db60fd5 | 23 | { |
garyservin | 0:9e9b7db60fd5 | 24 | } |
garyservin | 0:9e9b7db60fd5 | 25 | |
garyservin | 0:9e9b7db60fd5 | 26 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 27 | { |
garyservin | 0:9e9b7db60fd5 | 28 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 29 | *(outbuffer + offset + 0) = (this->transforms_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 30 | *(outbuffer + offset + 1) = (this->transforms_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 31 | *(outbuffer + offset + 2) = (this->transforms_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 32 | *(outbuffer + offset + 3) = (this->transforms_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 33 | offset += sizeof(this->transforms_length); |
garyservin | 0:9e9b7db60fd5 | 34 | for( uint32_t i = 0; i < transforms_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 35 | offset += this->transforms[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 36 | } |
garyservin | 0:9e9b7db60fd5 | 37 | return offset; |
garyservin | 0:9e9b7db60fd5 | 38 | } |
garyservin | 0:9e9b7db60fd5 | 39 | |
garyservin | 0:9e9b7db60fd5 | 40 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 41 | { |
garyservin | 0:9e9b7db60fd5 | 42 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 43 | uint32_t transforms_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 44 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 45 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 46 | transforms_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 47 | offset += sizeof(this->transforms_length); |
garyservin | 0:9e9b7db60fd5 | 48 | if(transforms_lengthT > transforms_length) |
garyservin | 0:9e9b7db60fd5 | 49 | this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped)); |
garyservin | 0:9e9b7db60fd5 | 50 | transforms_length = transforms_lengthT; |
garyservin | 0:9e9b7db60fd5 | 51 | for( uint32_t i = 0; i < transforms_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 52 | offset += this->st_transforms.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 53 | memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped)); |
garyservin | 0:9e9b7db60fd5 | 54 | } |
garyservin | 0:9e9b7db60fd5 | 55 | return offset; |
garyservin | 0:9e9b7db60fd5 | 56 | } |
garyservin | 0:9e9b7db60fd5 | 57 | |
garyservin | 0:9e9b7db60fd5 | 58 | const char * getType(){ return "tf2_msgs/TFMessage"; }; |
garyservin | 0:9e9b7db60fd5 | 59 | const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; }; |
garyservin | 0:9e9b7db60fd5 | 60 | |
garyservin | 0:9e9b7db60fd5 | 61 | }; |
garyservin | 0:9e9b7db60fd5 | 62 | |
garyservin | 0:9e9b7db60fd5 | 63 | } |
garyservin | 0:9e9b7db60fd5 | 64 | #endif |